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Transfer octomap w/out ROS Message

asked 2017-06-01 05:38:45 -0600

SirJ gravatar image

Hey guys,

is there a way to transfer a octomap between two nodes without using ROS messages?

Due to high processing time I sourced out the octomap creating - and need the processed octomap in my main node. Using the octomap_msgs takes too long for high frequency use to publish it.

Thank you very much

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answered 2017-06-25 09:31:10 -0600

To answer your question literally: There are plenty of message-passing protocols around that you could use to transfer the octomap between processes: zeroMQ, MQTT, gRPC, etc.; however, I would be surprised if those would give you much better results than using ROS with octomap_msgs. The reason is that the message from octomap_msgs simply wraps a binary .bt/.ot file, which is exactly what you would pass around using any other protocol, so there shouldn't be any significant overhead there.

A much better idea would probably be to use nodelets, so that you don't need any inter-process communication there. Two nodelets running in the same process don't even serialize/deserialize messages, they simply pass shared pointers around.

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Asked: 2017-06-01 05:38:45 -0600

Seen: 90 times

Last updated: Jun 25 '17